Merge branch 'master' of 192.168.1.3:p_chinagoldgroup_hand_acid/hand_acid_mainboard

.settings/language.settings.xml

@@ -5,7 +5,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1324296782879874877" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1534615028576298921" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -16,7 +16,7 @@
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1312690375029265710" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" console="false" env-hash="1550109261171453848" id="com.st.stm32cube.ide.mcu.toolchain.armnone.setup.CrossBuiltinSpecsDetector" keep-relative-paths="false" name="MCU ARM GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>

usrc/service/page/submenu/Page_muPumpTest.cpp

@@ -115,12 +115,12 @@ void Page_muPumpTest::updateStatiInfo(float statiTruns, float statiVolum) {
 }
 void Page_muPumpTest::clearStatisInfo() {
   updateStatiInfo(0, 0);
-  m_motorTrunsBegin = PUMPCS->getMotorNowPosR(m_pumpId);
+  PUMPCS->setCurrentPosAsZero(m_pumpId);
 }
 
 void Page_muPumpTest::updateStatiInfo() {
   double nowPos      = PUMPCS->getMotorNowPosR(m_pumpId);
-  double truns       = (nowPos - m_motorTrunsBegin);
+  double truns       = (nowPos);
   float  motorX_mLPR = getMotorMLPR(m_pumpId);
   double volum       = truns * motorX_mLPR;
   updateStatiInfo(truns, volum);

usrc/service/page/submenu/Page_muPumpTest.hpp

@@ -8,7 +8,6 @@ class Page_muPumpTest : public IPageProcesser {
  private:
   /* data */
 
-  double m_motorTrunsBegin = 0;
   int    m_pumpId          = 0;
   float  m_statiTruns      = 0;
   float  m_statiVolum      = 0;

usrc/service/pump_ctrl_service.cpp

@@ -248,7 +248,8 @@ void PumpCtrlService::rotate(int32_t mid, int32_t direction) {
 
   ValveStateSyncService::ins()->setValveState(1);
   TMC51X0* cur_motor = m_motors[mid];
-  cur_motor->rotate(direction > 0 ? getMxRunRPM(mid) : -getMxRunRPM(mid));
+  // cur_motor->rotate(direction > 0 ? getMxRunRPM(mid) : -getMxRunRPM(mid));
+  cur_motor->moveToEnd(direction > 0 ? 1 : -1,getMxRunRPM(mid));
 }
 void PumpCtrlService::stopRotate() {
   if (isWorking()) {
@@ -273,6 +274,13 @@ double PumpCtrlService::getMotorNowPosR(int32_t mid) {
   }
   return m_motors[mid]->getXactualRAW() / 51200.0;
 }
+void PumpCtrlService::setCurrentPosAsZero(int32_t mid) {
+  if (mid > 3) {
+    ZLOGE(TAG, "mid:%d is invalid", mid);
+    return;
+  }
+  m_motors[mid]->setXACTUAL(0);
+}
 
 void PumpCtrlService::doMotorsMoveByOnce() {
   int32_t step0 = int32_t((getCfgFloat(kcfg_acideval0) + getPumpAppendMl(0)) * 1000);

usrc/service/pump_ctrl_service.hpp

@@ -40,6 +40,7 @@ class PumpCtrlService {
   void   rotate(int32_t mid, int32_t direction);
   void   stopRotate();
   double getMotorNowPosR(int32_t mid);
+  void   setCurrentPosAsZero(int32_t mid);
 
  private:
   void doMotorsMoveByOnce();